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<div class="title">pyramid_feature_matching.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *                      Willow Garage, Inc</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PYRAMID_FEATURE_MATCHING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PYRAMID_FEATURE_MATCHING_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_representation.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html">   68</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_pyramid_feature_histogram.html">PyramidFeatureHistogram</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointFeature&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointFeature&gt;::input_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PyramidFeatureHistogram&lt;PointFeature&gt; &gt; Ptr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> Ptr PyramidFeatureHistogramPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const pcl::PointRepresentation&lt;PointFeature&gt; &gt; FeatureRepresentationConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a74d4d7059f875f73e0c723be6acd93a6">PyramidFeatureHistogram</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a175e74203bce5c709afd123e7b278d34">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a175e74203bce5c709afd123e7b278d34">setInputDimensionRange</a> (std::vector&lt;std::pair&lt;float, float&gt; &gt; &amp;dimension_range_input)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      { dimension_range_input_ = dimension_range_input; }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">inline</span> std::vector&lt;std::pair&lt;float, float&gt; &gt;</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#af059834d6adf62910024e61d32ea3e5b">   90</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#af059834d6adf62910024e61d32ea3e5b">getInputDimensionRange</a> () { <span class="keywordflow">return</span> dimension_range_input_; }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a3b59cadbce7fbdaec4439befa6400c7f">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a3b59cadbce7fbdaec4439befa6400c7f">setTargetDimensionRange</a> (std::vector&lt;std::pair&lt;float, float&gt; &gt; &amp;dimension_range_target)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      { dimension_range_target_ = dimension_range_target; }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">inline</span> std::vector&lt;std::pair&lt;float, float&gt; &gt;</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#aa5101f412718890a4541633503e1c059">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#aa5101f412718890a4541633503e1c059">getTargetDimensionRange</a> () { <span class="keywordflow">return</span> dimension_range_target_; }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a768f52c6ab03239a26c5d77bf85d3c40">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a768f52c6ab03239a26c5d77bf85d3c40">setPointRepresentation</a> (<span class="keyword">const</span> FeatureRepresentationConstPtr&amp; feature_representation) { feature_representation_ = feature_representation; }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> FeatureRepresentationConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a34fd8b1f65da98d8fb6981429d6a28d4">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a34fd8b1f65da98d8fb6981429d6a28d4">getPointRepresentation</a> () { <span class="keywordflow">return</span> feature_representation_; }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a3514e2136746a3ff2d1123fa5a5a2836">compute</a> ();</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a60c539b8fbd9c3f5a60b6d57c4ae7211">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a60c539b8fbd9c3f5a60b6d57c4ae7211">isComputed</a> () { <span class="keywordflow">return</span> is_computed_; }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a480e20870ce4703f41e8b8330e98d9ec">comparePyramidFeatureHistograms</a> (<span class="keyword">const</span> PyramidFeatureHistogramPtr &amp;pyramid_a,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                                       <span class="keyword">const</span> PyramidFeatureHistogramPtr &amp;pyramid_b);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">size_t</span> nr_dimensions, nr_levels, nr_features;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      std::vector&lt;std::pair&lt;float, float&gt; &gt; dimension_range_input_, dimension_range_target_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      FeatureRepresentationConstPtr feature_representation_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">bool</span> is_computed_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a3ee7c8c11ca6f63cb012c84c608ceb8b">initializeHistogram</a> ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a4f3b1fd4b8a4bcfb74148916731d93ca">convertFeatureToVector</a> (<span class="keyword">const</span> PointFeature &amp;feature,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                              std::vector&lt;float&gt; &amp;feature_vector);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#ad1ac19162a68b147fff56097cb256b3f">addFeature</a> (std::vector&lt;float&gt; &amp;feature);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">at</a> (std::vector&lt;size_t&gt; &amp;access,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordtype">size_t</span> &amp;level);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">at</a> (std::vector&lt;float&gt; &amp;feature,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordtype">size_t</span> &amp;level);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">  170</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">PyramidFeatureHistogramLevel</a></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">PyramidFeatureHistogramLevel</a> () :</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          hist (), </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          bins_per_dimension (),</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          bin_step ()</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <a class="code" href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">PyramidFeatureHistogramLevel</a> (std::vector&lt;size_t&gt; &amp;a_bins_per_dimension, std::vector&lt;float&gt; &amp;a_bin_step) : </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          hist (), </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          bins_per_dimension (a_bins_per_dimension),</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          bin_step (a_bin_step)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          initializeHistogramLevel ();</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        initializeHistogramLevel ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        std::vector&lt;unsigned int&gt; hist;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        std::vector&lt;size_t&gt; bins_per_dimension;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        std::vector&lt;float&gt; bin_step;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      };</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      std::vector&lt;PyramidFeatureHistogramLevel&gt; hist_levels;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;}</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/pyramid_feature_matching.hpp&gt;</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_PYRAMID_FEATURE_MATCHING_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html">pcl::PyramidFeatureHistogram</a></div><div class="ttdoc">Class that compares two sets of features by using a multiscale representation of the features inside ...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a175e74203bce5c709afd123e7b278d34"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a175e74203bce5c709afd123e7b278d34">pcl::PyramidFeatureHistogram::setInputDimensionRange</a></div><div class="ttdeci">void setInputDimensionRange(std::vector&lt; std::pair&lt; float, float &gt; &gt; &amp;dimension_range_input)</div><div class="ttdoc">Method for setting the input dimension range parameter.</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a34fd8b1f65da98d8fb6981429d6a28d4"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a34fd8b1f65da98d8fb6981429d6a28d4">pcl::PyramidFeatureHistogram::getPointRepresentation</a></div><div class="ttdeci">FeatureRepresentationConstPtr const getPointRepresentation()</div><div class="ttdoc">Get a pointer to the feature representation used when converting features into k-D vectors.</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a3514e2136746a3ff2d1123fa5a5a2836"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a3514e2136746a3ff2d1123fa5a5a2836">pcl::PyramidFeatureHistogram::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">The central method for inserting the feature set inside the pyramid and obtaining the complete pyrami...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:289</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a3b59cadbce7fbdaec4439befa6400c7f"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a3b59cadbce7fbdaec4439befa6400c7f">pcl::PyramidFeatureHistogram::setTargetDimensionRange</a></div><div class="ttdeci">void setTargetDimensionRange(std::vector&lt; std::pair&lt; float, float &gt; &gt; &amp;dimension_range_target)</div><div class="ttdoc">Method to set the target dimension range parameter.</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a3ee7c8c11ca6f63cb012c84c608ceb8b"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a3ee7c8c11ca6f63cb012c84c608ceb8b">pcl::PyramidFeatureHistogram::initializeHistogram</a></div><div class="ttdeci">bool initializeHistogram()</div><div class="ttdoc">Checks for input inconsistencies and initializes the underlying data structures</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a480e20870ce4703f41e8b8330e98d9ec"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a480e20870ce4703f41e8b8330e98d9ec">pcl::PyramidFeatureHistogram::comparePyramidFeatureHistograms</a></div><div class="ttdeci">static float comparePyramidFeatureHistograms(const PyramidFeatureHistogramPtr &amp;pyramid_a, const PyramidFeatureHistogramPtr &amp;pyramid_b)</div><div class="ttdoc">Static method for comparing two pyramid histograms that returns a floating point value between 0 and ...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a4f3b1fd4b8a4bcfb74148916731d93ca"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a4f3b1fd4b8a4bcfb74148916731d93ca">pcl::PyramidFeatureHistogram::convertFeatureToVector</a></div><div class="ttdeci">void convertFeatureToVector(const PointFeature &amp;feature, std::vector&lt; float &gt; &amp;feature_vector)</div><div class="ttdoc">Converts a feature in templated form to an STL vector. This is the point where the conversion from th...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a60c539b8fbd9c3f5a60b6d57c4ae7211"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a60c539b8fbd9c3f5a60b6d57c4ae7211">pcl::PyramidFeatureHistogram::isComputed</a></div><div class="ttdeci">bool isComputed()</div><div class="ttdoc">Checks whether the pyramid histogram has been computed</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a74d4d7059f875f73e0c723be6acd93a6"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a74d4d7059f875f73e0c723be6acd93a6">pcl::PyramidFeatureHistogram::PyramidFeatureHistogram</a></div><div class="ttdeci">PyramidFeatureHistogram()</div><div class="ttdoc">Empty constructor that instantiates the feature representation variable</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a768f52c6ab03239a26c5d77bf85d3c40"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a768f52c6ab03239a26c5d77bf85d3c40">pcl::PyramidFeatureHistogram::setPointRepresentation</a></div><div class="ttdeci">void setPointRepresentation(const FeatureRepresentationConstPtr &amp;feature_representation)</div><div class="ttdoc">Provide a pointer to the feature representation to use to convert features to k-D vectors.</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_aa5101f412718890a4541633503e1c059"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#aa5101f412718890a4541633503e1c059">pcl::PyramidFeatureHistogram::getTargetDimensionRange</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; float, float &gt; &gt; getTargetDimensionRange()</div><div class="ttdoc">Method for retrieving the target dimension range vector</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_aaca9e1756dddf35b44e6ff0cb9ad7ab5"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">pcl::PyramidFeatureHistogram::at</a></div><div class="ttdeci">unsigned int &amp; at(std::vector&lt; size_t &gt; &amp;access, size_t &amp;level)</div><div class="ttdoc">Access the pyramid bin given the position of the bin at the given pyramid level and the pyramid level</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:220</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_ad1ac19162a68b147fff56097cb256b3f"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#ad1ac19162a68b147fff56097cb256b3f">pcl::PyramidFeatureHistogram::addFeature</a></div><div class="ttdeci">void addFeature(std::vector&lt; float &gt; &amp;feature)</div><div class="ttdoc">Adds a feature vector to its corresponding bin at each level in the pyramid</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:307</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_af059834d6adf62910024e61d32ea3e5b"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#af059834d6adf62910024e61d32ea3e5b">pcl::PyramidFeatureHistogram::getInputDimensionRange</a></div><div class="ttdeci">std::vector&lt; std::pair&lt; float, float &gt; &gt; getInputDimensionRange()</div><div class="ttdoc">Method for retrieving the input dimension range vector</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:90</div></div>
<div class="ttc" id="astructpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level_html"><div class="ttname"><a href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">pcl::PyramidFeatureHistogram::PyramidFeatureHistogramLevel</a></div><div class="ttdoc">Structure for representing a single pyramid histogram level</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:171</div></div>
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